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chirp-v2 PR-D: chirp_scheduler replaces radar_mode_controller; MF/MTI wave_sel-native

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Single 100 MHz scheduler emits wave_sel[1:0] and chirp_pulse natively. Modes
00 (STM32 pass-through), 01 (auto-scan over SHORT/MEDIUM/LONG sub-frames),
10 (single-chirp debug), 11 (track dwell with watchdog scan-fallback after
RP_DEF_TRACK_WATCHDOG_FRAMES=5 idle frames). Sub-frame mask lets ops drop a
waveform without recompiling.

Drops the receiver_final wave_sel shim added in PR-C: wave_sel comes
straight from the scheduler; chirp_pulse replaces the old mc_new_chirp
toggle + XOR edge converter. matched_filter_multi_segment and mti_canceller
take wave_sel[1:0] and chirp_pulse directly — no parallel paths.

multi_segment also bumped: SHORT_CHIRP_SAMPLES 50 -> 100 (V2 1 us SHORT)
and MEDIUM_CHIRP_SAMPLES = 500 (5 us). LONG path unchanged. Dead
mc_new_elevation/azimuth XOR converters removed.

Deletes radar_mode_controller.v, formal/fv_radar_mode_controller.v, and
tb/tb_radar_mode_controller.v. Build manifests (run_regression.sh,
scripts/200t/build_200t.tcl) updated. Receiver_final pins medium/track/
subframe_enable inputs to RP_DEF_* defaults until PR-G plumbs USB opcodes.

Verification:
- tb_rxb_fullchain_latency: peak |I|+|Q|=24033 at bin 0, ~80x peak/mean
  (up from PR-C's 15115 since matched filter now uses full 100 SHORT samples)
- tb_mti_canceller: 43/43 PASS with new wave_sel[1:0] input
- tb_radar_receiver_final: 8/8 PASS, ALL TESTS PASSED
- tb_system_e2e: 34/49 PASS - identical to pre-PR-D baseline (15 failures
  are pre-existing matched-filter cycle-budget skips); G8.2/G8.3 chirp_scheduler
  probes PASS
- tb_multiseg_cosim: 16/32 - same as pre-PR-D baseline
This commit is contained in:
Jason
2026-04-30 20:52:32 +05:45
parent 4238eb1b99
commit 8e8f3e60c4
15 changed files with 666 additions and 1718 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_2_FPGA/mti_canceller.v
+33 -32
View File
@@ -74,13 +74,13 @@ module mti_canceller #(
// ========== CONFIGURATION ==========
input wire mti_enable, // 1=MTI active, 0=pass-through
// Current chirp's waveform selector (from radar_mode_controller). Used
// to mute MTI output across the long↔short chirp boundary in range
// mode 01 (long-range interleave) — without this, the first chirp of
// a new waveform subtracts the previous waveform's range profile,
// injecting a per-range-bin impulse into slow-time sample 0 of the
// new Doppler sub-frame that spreads across all Doppler bins.
input wire use_long_chirp,
// Current chirp's waveform selector (from chirp_scheduler). Used to
// mute MTI output across waveform transitions in scan-mode 3-sub-frame
// sequencing — without this, the first chirp of a new waveform would
// subtract the previous waveform's range profile, injecting a per-bin
// impulse into slow-time sample 0 of the new Doppler sub-frame that
// spreads across all Doppler bins.
input wire [1:0] wave_sel,
// ========== STATUS ==========
output reg mti_first_chirp, // 1 during first chirp (output muted)
@@ -109,23 +109,23 @@ reg signed [DATA_WIDTH-1:0] range_i_d1, range_q_d1;
reg range_valid_d1;
reg [`RP_RANGE_BIN_WIDTH_MAX-1:0] range_bin_d1;
reg mti_enable_d1;
reg use_long_chirp_d1;
reg [1:0] wave_sel_d1;
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
range_i_d1 <= {DATA_WIDTH{1'b0}};
range_q_d1 <= {DATA_WIDTH{1'b0}};
range_valid_d1 <= 1'b0;
range_bin_d1 <= {`RP_RANGE_BIN_WIDTH_MAX{1'b0}};
mti_enable_d1 <= 1'b0;
use_long_chirp_d1 <= 1'b0;
range_i_d1 <= {DATA_WIDTH{1'b0}};
range_q_d1 <= {DATA_WIDTH{1'b0}};
range_valid_d1 <= 1'b0;
range_bin_d1 <= {`RP_RANGE_BIN_WIDTH_MAX{1'b0}};
mti_enable_d1 <= 1'b0;
wave_sel_d1 <= `RP_WAVE_SHORT;
end else begin
range_i_d1 <= range_i_in;
range_q_d1 <= range_q_in;
range_valid_d1 <= range_valid_in;
range_bin_d1 <= range_bin_in;
mti_enable_d1 <= mti_enable;
use_long_chirp_d1 <= use_long_chirp;
range_i_d1 <= range_i_in;
range_q_d1 <= range_q_in;
range_valid_d1 <= range_valid_in;
range_bin_d1 <= range_bin_in;
mti_enable_d1 <= mti_enable;
wave_sel_d1 <= wave_sel;
end
end
@@ -160,14 +160,14 @@ end
reg has_previous;
// Waveform of the chirp whose profile currently lives in prev_i/prev_q.
// Latched on every range_valid_d1 (use_long_chirp_d1 is constant within a
// chirp, so this stays consistent inside a chirp; at the first sample of
// the *next* chirp the OLD value is still present for the combinational
// Latched on every range_valid_d1 (wave_sel_d1 is constant within a chirp,
// so this stays consistent inside a chirp; at the first sample of the
// *next* chirp the OLD value is still present for the combinational
// `waveform_changed` compare, then updates this cycle to the new value).
// Updating per-cycle (rather than only at the last bin) keeps the tag
// correct when range_bin_decimator early-terminates a chirp before
// `range_bin_d1` ever reaches NUM_RANGE_BINS - 1 (RX-F).
reg prev_chirp_was_long;
reg [1:0] prev_chirp_wave_sel;
// ============================================================================
// CHIRP BOUNDARY DETECTION (RX-F: end-of-chirp without depending on the
@@ -192,7 +192,7 @@ wire chirp_boundary = range_valid_d1
wire effective_has_previous = has_previous || chirp_boundary;
wire waveform_changed = effective_has_previous
&& (use_long_chirp_d1 != prev_chirp_was_long);
&& (wave_sel_d1 != prev_chirp_wave_sel);
// ============================================================================
// MTI PROCESSING (operates on d1 pipeline stage + BRAM read data)
@@ -237,7 +237,7 @@ always @(posedge clk or negedge reset_n) begin
range_bin_out <= {`RP_RANGE_BIN_WIDTH_MAX{1'b0}};
has_previous <= 1'b0;
mti_first_chirp <= 1'b1;
prev_chirp_was_long <= 1'b0;
prev_chirp_wave_sel <= `RP_WAVE_SHORT;
mti_saturation_count <= 8'd0;
saw_nonzero_bin_in_chirp <= 1'b0;
end else begin
@@ -261,7 +261,7 @@ always @(posedge clk or negedge reset_n) begin
// still visible to the combinational `waveform_changed` compare
// (read-before-write semantics), then updates this cycle to the
// new chirp's value.
prev_chirp_was_long <= use_long_chirp_d1;
prev_chirp_wave_sel <= wave_sel_d1;
// Arm has_previous on either the original last-bin trigger OR a
// chirp_boundary (RX-F). After this cycle, prev_i/prev_q holds
@@ -290,11 +290,12 @@ always @(posedge clk or negedge reset_n) begin
saw_nonzero_bin_in_chirp <= 1'b0;
end else if (!effective_has_previous || waveform_changed) begin
// No valid previous chirp to subtract from — either the very
// first chirp after reset/enable, or the long↔short boundary
// in range_mode=01 where the prev buffer holds a different
// waveform's profile. Mute output (emit zeros with valid=1
// so Doppler still sees the expected chirp count), overwrite
// prev_i/prev_q as this chirp streams through the write port.
// first chirp after reset/enable, or a sub-frame waveform
// transition (SHORT->MEDIUM, MEDIUM->LONG, etc.) where the
// prev buffer holds a different waveform's profile. Mute
// output (emit zeros with valid=1 so Doppler still sees the
// expected chirp count), overwrite prev_i/prev_q as this
// chirp streams through the write port.
range_i_out <= {DATA_WIDTH{1'b0}};
range_q_out <= {DATA_WIDTH{1'b0}};
range_valid_out <= 1'b1;